CN110011479A - A kind of servo motor that the more strategies of revolving speed are controllable - Google Patents
A kind of servo motor that the more strategies of revolving speed are controllable Download PDFInfo
- Publication number
- CN110011479A CN110011479A CN201910430071.8A CN201910430071A CN110011479A CN 110011479 A CN110011479 A CN 110011479A CN 201910430071 A CN201910430071 A CN 201910430071A CN 110011479 A CN110011479 A CN 110011479A
- Authority
- CN
- China
- Prior art keywords
- rotor
- casing
- cylindrical cavity
- high speed
- circular cylindrical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
- H02K1/278—Surface mounted magnets; Inset magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/02—Machines with one stator and two or more rotors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a kind of controllable servo motors of strategy more than revolving speed, including casing, are the hollow barrel structure of a multi-stag, and first magnet steel of circle and second magnet steel of circle are sequentially arranged at intervals on casing internal perisporium；High speed shaft runs through motor axis center, the hollow pipeline for cabling is offered in high speed shaft, and the front end of high speed shaft is drawn outward from the front opening of casing, and a harmonic speed reducer is connected on the exit, and the tail end of high speed shaft is drawn from the tail end outward opening of casing；The first rotor and the second rotor, the first rotor and the second rotor are successively arranged at intervals on the axle body of high speed shaft, and the first rotor and the second rotor are rotatably arranged in casing, and the first magnet steel is distributed in the first rotor periphery, and the second magnet steel is distributed in the second rotor outer periphery.The advantages that present invention realizes the high-precision control to revolving speed in such a way that birotor distinguishes excitation con-trol, and there are also flat structures, export and stablize, and structural compatibility is high.
Description
Technical field
The present invention relates to servo motor technical fields, and in particular to a kind of servo motor that the more strategies of revolving speed are controllable.
Background technique
Servo motor is a kind of engine that mechanical organ operating is controlled in servo-system, its control speed, position
Precision is very accurate, can convert voltage signal to torque and revolving speed with drive control object, service class robot field,
Servo motor is for driving the driving element at joint of robot to do high-precision link motion, but due to generic servo motor
Constant torque characteristic so that its speed adjustable range is relatively narrow, high-precision controllability needed for being extremely difficult to robot.
Double-rotor machine is a kind of New-type electric machine that flexible energy transmission may be implemented, and there was only one with traditional motor
A stator and a rotor difference, there are two mechanical axis for double-rotor machine tool, and the independent of two mechanical axis energy may be implemented and pass
It passs, this novel double-rotor machine attracts more and more both at home and abroad because it is well positioned to meet the requirement of energy conservation and speed regulation
Scholar studies.With the independent control that input signal carries out two rotors, motor fast reaction and output kinetic energy are this
Structure makes the occupied space of motor larger, and can not accomplish high-precision power output, and control mode is also complex, because
This is only used for the field insensitive to motor length and control precision such as industrial robot.
Summary of the invention
It is an object of the invention to solve at least the above problems, and provide the advantages of at least will be described later.
It is a still further object of the present invention to provide a kind of controllable servo motors of strategy more than revolving speed, have structure simple, if
Meter rationally, is easily installed, and can carry out excitation according to torque-demand and to single rotor or two rotors, and selectivity is more.
In order to achieve the object of the present invention and further advantage, a kind of servo motors that the more strategies of revolving speed are controllable, packet are provided
It includes:
Casing is the hollow barrel structure of a multi-stag, is sequentially arranged at intervals with first magnetic of circle on the casing internal perisporium
Steel and second magnet steel of circle；
High speed shaft runs through the motor axis center, and the hollow pipeline for cabling, and the height are offered in the high speed shaft
The front end of fast axis is drawn outward from the front opening of the casing, and a harmonic speed reducer, the high speed shaft are connected on the exit
Tail end drawn from the tail end outward opening of the casing, installation one is for surveying the coding velometer of revolving speed on the exit；
The first rotor and the second rotor, the first rotor and second rotor are successively arranged at intervals on the axis of the high speed shaft
With, and the first rotor and second rotor are rotatably arranged in the casing, first magnet steel is distributed in described
The first rotor periphery, second magnet steel are distributed in second rotor outer periphery.
Preferably, be disposed in the casing the first interconnected circular cylindrical cavity, the second circular cylindrical cavity and
Third circular cylindrical cavity, and the first circular cylindrical cavity internal diameter is consistent with the third circular cylindrical cavity internal diameter, described first
The internal diameter of circular cylindrical cavity is less than the internal diameter of second circular cylindrical cavity, and the high speed shaft first end is rotatably arranged on described the
In one circular cylindrical cavity, the high speed shaft second end is rotatably arranged in the third circular cylindrical cavity, and the high speed shaft with
One first bearing of sandwiched between first circular cylindrical cavity, sandwiched one between the high speed shaft and the third circular cylindrical cavity
The axial position of second bearing, the first bearing and the second bearing limits.
Preferably, it is successively spaced apart on the high speed shaft axle body and is equipped with the first erecting bed and the second erecting bed, described first
For rotor axis center through a first through hole is opened up, the second rotor axis center, which runs through, opens up one second through-hole, and each described
Erecting bed is consistent with the internal diameter of each through-hole, and the first rotor fitting is fixed on first erecting bed periphery, described
The fitting of second rotor is fixed on second erecting bed periphery, the first rotor and second rotor and the high speed shaft is same
Step is rotatably arranged in the casing.
Preferably, first annular concave station and the second annular concave platform are successively offered on the casing internal perisporium, described first
Interval fitting is provided with several first magnet steel in annular concave platform, and interval fitting is provided with several in second annular concave platform
Second magnet steel, the first rotor are rotatably arranged on the inner circumferential space of first magnet steel, and the second rotor rotation is set
It sets in the inner circumferential space of second magnet steel, institute is axially and symmetrically arranged in the first annular concave station and second annular concave platform
It states in the second circular cylindrical cavity.
Preferably, front opening inner circumferential protrusion one first retaining ring of setting of first circular cylindrical cavity, the first gear
Circle and the first circular cylindrical cavity arranged coaxial, one first limit of fixed setting on the second circular cylindrical cavity front bulkhead
Block, the outer ring of the first bearing are axially confined between first retaining ring and first limited block；The high speed shaft
One first limiting stand is opened up on first end axle body, the inner ring of the first bearing is axially confined in first limiting stand.
Preferably, tail end opening inner circumferential protrusion one second retaining ring of setting of the third circular cylindrical cavity, the second gear
Circle and the third circular cylindrical cavity arranged coaxial, one second limit of fixed setting on the second circular cylindrical cavity tail end wall
Block, the outer ring of the second bearing are axially confined between second retaining ring and second limited block；The high speed shaft
One second limiting stand is opened up on second end axle body, the inner ring of the second bearing is axially confined in second limiting stand.
Preferably, the high speed shaft second end is drawn from the tail end outward opening of the third circular cylindrical cavity, the height
One encoder code disc is installed, one coding of installation on the casing tail end wall of the encoder code disc periphery in fast axis second end
Device, the encoder and the encoder code disc spaced-apart alignment, the encoder outer sheath are equipped with an encoder cover, the coding
Device cover is fixed on the casing tail end wall periphery.
Preferably, the harmonic speed reducer is mounted on the first shaft end of the casing, and the harmonic speed reducer includes: wave
Device, flexbile gear, firm gear and crossed roller bearing are sent out, the wave hair device is fixed in the high speed shaft axial direction first end, the flexbile gear
It is fixed on the casing front bulkhead, and the flexbile gear is set in wave hair device periphery, the firm gear is set in the flexbile gear
Periphery, the crossed roller bearing are axially located between the firm gear and the casing.
Preferably, casing front bulkhead periphery opens up a concave station, and the flexbile gear periphery is fixed on the concave station, described
Flexbile gear inner circumferential, which extends forwardly into, to be folded between the wave hair device and the firm gear；The outer ring of the crossed roller bearing is fixed
On the concave station, the inner ring front bulkhead of the crossed roller bearing is fixed with the firm gear tail end wall, and the crossed roller
The inner ring of bearing is located at the flexbile gear periphery.
Preferably, close with an oil sealing between the outer ring of the crossed roller bearing and the inner ring of the crossed roller bearing
Envelope；One first groove is opened up on the inner ring front bulkhead of the crossed roller bearing, one first sealing of installation in first groove
Circle, first sealing ring are folded between the firm gear tail end wall and the inner ring of the crossed roller bearing；
The flexbile gear is folded between the outer ring of the crossed roller bearing and the casing front bulkhead, the crossed roller axis
One second groove is opened up on the outer ring tail end wall held, and one second sealing ring is installed in second groove；The concave station axis is outside
A third groove is opened up in wall inner circumferential, and a third sealing ring is installed in the third groove.
Beneficial effects of the present invention are as follows:
1, the configuration of the present invention is simple is compact, and rationally, by the casing customized, high speed shaft, two rotors, two enclose permanent magnets for design, compiles
The compositions such as code velometer, have the power output more being driven, are able to achieve high-precision control, motor front end portion, which is embedded, is slowing down
In device, shorten axial dimension, so that the advantages that complete machine structure is flat, and installation is simple, and output is stablized, and structural compatibility is high.
2, the present invention is sequentially arranged at intervals with first magnet steel of circle and second magnet steel of circle on casing internal perisporium, coaxial to turn
It moves successively to be spaced on the axle body of the intracorporal high speed shaft of chassis chamber and the first rotor and the second rotor is installed, and the first magnet steel is distributed
In the first rotor periphery, the second magnet steel is distributed in the second rotor outer periphery, thus realize that two rotors separate individual control mode,
Achieve the purpose that the more strategies of revolving speed are controllable, and makes the thinner of design of electrical motor in the case where Same Efficieney density.
3, the present invention connects a harmonic speed reducer in the front end of motor, and high speed shaft is direct-connected with harmonic speed reducer, saves
Intermediate transition structure, keeps the structure more compact.
4, motion process of the invention completes full closed loop control by encoder, due to the extremely low gear back gaps of harmonic speed reducer and
High repetitive positioning accuracy, to ensure that the high-precision external output of servo motor.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is side sectional view of the invention；
Fig. 2 is the side view of casing of the present invention；
Fig. 3 is the first side view of casing cavity of the present invention；
Fig. 4 is second of side view of casing cavity of the present invention；
Fig. 5 is the side view of high speed shaft of the present invention；
Fig. 6 is the side view of the first rotor of the present invention；
Fig. 7 is bitrochanteric side view of the invention.
In figure: 1, harmonic speed reducer；2, casing；3, high speed shaft；4, the first magnet steel；5, the first rotor；6, the second magnet steel；7,
Second rotor；8, encoder；9, encoder code disc；10, encoder cover；11, first bearing；12, second bearing；13, the first limit
Position block；14, the second limited block；15, bolt；16, the first sealing ring；17, the second sealing ring；18, third sealing ring；19, oil sealing；
21, the first circular cylindrical cavity；22, the second circular cylindrical cavity；23, third circular cylindrical cavity；24, concave station；31, the first limiting stand；
32；First erecting bed；33, the second erecting bed；34, the second limiting stand；35, third screw hole；51, first through hole；71, second is logical
Hole；101, wave sends out device；102, flexbile gear；103, steel wheel；104, crossed roller bearing；211, the first retaining ring；221, first annular recessed
Platform；222, the second annular concave platform；223, the first screw hole；224, the second screw hole；231, the second retaining ring；241, third groove；242,
4th screw hole.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
Referring to Fig. 1, the present invention provides a kind of technical solution: a kind of servo motor that the more strategies of revolving speed are controllable, including it is humorous
Wave retarder 1, casing 2, high speed shaft 3 encode test the speed unit, the first rotor 5, the second rotor 7, the first magnet steel 4 and the second magnet steel 6
Deng, in which:
Casing 2 is the hollow barrel structure of multi-stag, be disposed in casing 2 the first interconnected circular cylindrical cavity 21,
Second circular cylindrical cavity 22 and third circular cylindrical cavity 23, and in 21 internal diameter of the first circular cylindrical cavity and third circular cylindrical cavity 23
Diameter is consistent, and the internal diameter of the first circular cylindrical cavity 21 is successively spaced on 2 internal perisporium of casing less than the internal diameter of the second circular cylindrical cavity 22
It is provided with first magnet steel of circle 4 and second magnet steel 6 of circle.
Specifically, successively offering first annular concave station 221 and the second annular concave platform 222, Ruo Gan on 2 internal perisporium of casing
One magnet steel 4 interval is fitted in first annular concave station 221, and several intervals of second magnet steel 6 are fitted in the second annular concave platform 222,
Wherein, first annular concave station 221 and the second annular concave platform 222 are axially and symmetrically arranged in the second circular cylindrical cavity 22.
High speed shaft 3 runs through motor axis center, and the hollow pipeline for cabling is offered in high speed shaft 3, specifically, high speed
The front end of axis 3 is drawn outward from the front opening of casing 2, harmonic speed reducer 1 is connected on the exit, motor is subtracted by harmonic wave
Fast device 1 directly exports drag object after slowing down, transmission is more direct, and the tail end of high speed shaft 3 draws from the tail end outward opening of casing 2
Out, the coding velometer for surveying revolving speed is installed on the exit, the operation of motor can be monitored in real time, is ensured to motor
Controllability.
In the present embodiment, 3 first end of high speed shaft is rotatably arranged in the first circular cylindrical cavity 21, and high speed shaft 3 and first
First bearing 11 is folded between circular cylindrical cavity 21,3 second end of high speed shaft is rotatably arranged in third circular cylindrical cavity 23, high
Second bearing 12 is folded between fast axis 3 and third circular cylindrical cavity 23, wherein the axial direction of first bearing 11 and second bearing 12
Position is defined, real by the first bearing 11 and second bearing 12 of sandwiched between the cavity of casing 2 and the axle body of high speed shaft 3
The relative motion between high speed shaft 3 and casing 2 is showed.
Specifically, the front opening inner circumferential protrusion of the first circular cylindrical cavity 21 is provided with the first retaining ring 211, the first retaining ring
211 and 21 arranged coaxial of the first circular cylindrical cavity, so that internal diameter of the opening inside diameter less than the first circular cylindrical cavity 21, second
The first limited block 13 is fixedly installed on 22 front bulkhead of circular cylindrical cavity, the outer ring of first bearing 11 is axially confined in first gear
Between circle 211 and the first limited block 13；Offer the first limiting stand 31 on 3 first end axle body of high speed shaft, first bearing 11 it is interior
Ring is axially confined in the first limiting stand 31, and then is defined the axial position of first bearing 11.
Similarly, the tail end opening inner circumferential protrusion of third circular cylindrical cavity 23 is provided with the second retaining ring 231, the second retaining ring 231
With 23 arranged coaxial of third circular cylindrical cavity, so that opening inside diameter is less than the internal diameter of third circular cylindrical cavity 23, second is round
The second limited block 14 is fixedly installed on 22 tail end wall of cylindrical chamber, the outer ring of second bearing 12 is axially confined in the second retaining ring
231 and second between limited block 14；The second limiting stand 34, the inner ring of second bearing 12 are offered on 3 second end axle body of high speed shaft
It is axially confined in the second limiting stand 34, and then is defined the axial position of the second limiting stand 34.
The first rotor 5 and the second rotor 7 are successively arranged at intervals on the axle body of high speed shaft 3, and the first rotor 5 and second turn
Son 7 is rotatably arranged in casing 2.The first erecting bed 32 and the second peace are equipped with specifically, being successively spaced apart on the axle body of high speed shaft 3
Platform 33 is filled, for 5 axis center of the first rotor through first through hole 51 is offered, 7 axis center of the second rotor, which runs through, offers the second through-hole
71, and each erecting bed is consistent with the internal diameter of each through-hole, the first rotor 5 is bonded the periphery for being fixed on the first erecting bed 32, the
Two rotors 7 are bonded the periphery for being fixed on the second erecting bed 33, so that the first rotor 5 and the second rotor 7 are synchronous with high speed shaft 3
Rotation is in casing 2.
In the present embodiment, the first rotor 5 is rotatably arranged on the inner circumferential space of the first magnet steel 4, and the second rotor 7 is rotatably arranged on
The inner circumferential space of second magnet steel 6, and because the first magnet steel 4 and the second magnet steel 6 are successively bonded the inner circumferential that casing 2 is arranged in, thus
Dual-rotor structure is formd, with 6 excitation signal of the first magnet steel 4 or the second magnet steel is individually given, the first magnet steel 4 drives the first rotor
5 are rotated, to drive, high speed shaft 3 is rotated synchronously or the second magnet steel 6 drives the second rotor 7 to be rotated, to drive
High speed shaft 3 rotates synchronously, and then realizes that two rotors separate individual control mode, or give the first rotor 5 and the second rotor 7
Synchronous excitation, synchronous driving the first rotor 5 and the rotation of the second rotor 7, improve output torque, reach the controllable mesh of the more strategies of revolving speed
, and make the thinner of design of electrical motor in the case where Same Efficieney density.
The second end of high speed shaft 3 is drawn from the tail end outward opening of third circular cylindrical cavity 23, is pacified in 3 second end of high speed shaft
Equipped with encoder code disc 9, encoder code disc 9 is rotated synchronously with high speed shaft 3；Pacify on the 2 tail end wall of casing of 9 periphery of encoder code disc
Equipped with encoder 8, encoder 8 and 9 spaced-apart alignment of encoder code disc, against the rotation of encoder code disc 9, the acquisition of encoder 8 is compiled
Turn signal on code device code-disc 9, obtains the tach signal of high speed shaft 3；8 outer sheath of encoder is equipped with encoder cover 10, coding
Device cover 10 is fixed on 2 tail end wall periphery of casing.Specifically, the motion process of servo motor completes closed-loop by encoder 8
Control, to ensure that the high-precision external output of servo motor of the invention.
Harmonic speed reducer 1 is mounted on the first shaft end of casing 2, harmonic speed reducer 1 include: wave hair device 101, flexbile gear 102,
Firm gear 103 and crossed roller bearing 104.
Wave hair device 101 is fixed in the axial first end of high speed shaft 3, and flexbile gear 102 is fixed on 2 front bulkhead of casing, and flexbile gear
102 are set in wave hair 101 periphery of device, and firm gear 103 is set in 102 periphery of flexbile gear, and crossed roller bearing 104 is axial to be located at firm gear
Between 103 and casing 2.
Specifically, the axial first end wall periphery of high speed shaft 3 is spaced apart and is equipped with several third screw holes 35, wave sends out 101 He of device
The axial first end of high speed shaft 3 is fixed by passing through the bolt of third screw hole 35, and high speed shaft 3 and speed reducer is direct-connected, is saved
Intermediate transition structure has been gone, has kept structure more compact.
2 front bulkhead periphery of casing offers concave station 24, and 102 periphery of flexbile gear is fixed on concave station 24, before 102 inner circumferential of flexbile gear
It extends to and is folded between wave hair device 101 and firm gear 103；The outer ring of crossed roller bearing 104 is fixed on concave station 24, is intersected
The inner ring front bulkhead of roller bearing 104 is fixed with 103 tail end wall of firm gear, and the inner ring of crossed roller bearing 104 is located at flexbile gear 102
Periphery.Wherein, the sidewall periphery of concave station 24, which is spaced apart, is equipped with several 4th screw holes 242, by bolt 15 from crossed roller bearing
104 outer ring front end is mounted in the 4th screw hole 242 after inwardly running through crossed roller bearing 104, so that crossed roller bearing 104
Outer ring and flexbile gear 102 be fixedly attached on casing 2.
Harmonic speed reducer 1 is combined by special designing and electric machine structure, and motor front end portion, which is embedded, is slowing down
In device, the connection distance of the two is shortened, whole volume is smaller, and the output torque of motor is bigger, while passing through high speed shaft 3
It is directly connected to wave hair device 101, intermediate connection structure, such as shaft coupling commonly used in the prior art is eliminated, so that of the invention
Transmission accuracy it is higher, that is, revolving speed output it is more accurate, transmission performance is more preferably.Further, the present invention is in order to improve
The leakproofness of body is provided between harmonic speed reducer 1 and the contact surface of motor multiple-sealed in harmonic speed reducer 1.
Specifically, being sealed between the outer ring of crossed roller bearing 104 and the inner ring of crossed roller bearing 104 with oil sealing 19；
The first groove is offered on the inner ring front bulkhead of crossed roller bearing 104, and the first sealing ring 16 is installed in first groove, first
Sealing ring 16 is folded between 103 tail end wall of firm gear and the inner ring of crossed roller bearing 104；Flexbile gear 102 is folded in intersection
It is recessed that second is offered between 2 front bulkhead of outer ring and casing of roller bearing 104, on the outer ring tail end wall of crossed roller bearing 104
Slot is equipped with the second sealing ring 17 in the second groove；Third groove 241 is offered in the axial outer wall inner circumferential of concave station 24, third is recessed
Third sealing ring 18 is installed in slot 241.
By adding above three sealing ring and an oil sealing 20, realizes the sealing to harmonic speed reducer 1, improve body
Protective capacities.
In conclusion being sequentially arranged at intervals with first magnet steel of circle 4 and second magnet steel 6 of circle, high speed on 2 internal perisporium of casing
Axis 3 runs through motor axis center, and the first rotor 5 and the second rotor 7 are successively arranged at intervals on the axle body of high speed shaft 3, and first turn
Son 5 and the second rotor 7 are rotatably arranged in casing 2, and the first magnet steel 4 is distributed in 5 periphery of the first rotor, and the second magnet steel 6 is distributed in
Second rotor, 7 periphery.With individually give 6 excitation signal of the first magnet steel 4 or the second magnet steel, the first magnet steel 4 drive the first rotor 5 into
Row rotation, to drive, high speed shaft 3 is rotated synchronously or the second magnet steel 6 drives the second rotor 7 to be rotated, to drive height
Fast axis 3 rotates synchronously, and high speed shaft 3 drives harmonic speed reducer 1 to operate, and then robot is driven to carry out link motion.The present invention exists
Two circle magnet steel are arranged at intervals on the internal perisporium of casing 2, coaxially on the axle body for rotating in the intracorporal high speed shaft 3 of 2 chamber of casing between
Every installation, there are two rotors, and two circle magnet steel are sequentially distributed in the periphery of two rotors, to realize separately single to two rotors
Only control mode achievees the purpose that the more strategies of revolving speed are controllable, and to set motor in the case where Same Efficieney density
That counts is thinner；The present invention connects a harmonic speed reducer 1 in the front end of motor, and high speed shaft 3 and harmonic speed reducer 1 is direct-connected, saves
Intermediate transition structure has been gone, has kept structure more compact；Motion process of the invention completes full closed loop control by encoder 8, by
In the extremely low gear back gaps of harmonic speed reducer 1 and high repetitive positioning accuracy, to ensure that servo motor is high-precision externally
Output.In short, the more tactful controllable servo motors of this revolving speed are simple and compact for structure, design rationally, has the power more being driven defeated
Out, it is able to achieve high-precision control, there are also flat structure, the advantages that installation is simple, and output is stablized, and structural compatibility is high, is applicable in
It is very stringent in some pairs of length requirements and need the service class robot industry of high-precision control.
Although being disclosed for illustrative purpose the preferred embodiment of the present invention, those skilled in the art
Member will recognize that: without departing from the scope and spirit of the present invention as disclosed in appended claims, be able to carry out
Various modifications, addition and replacement.
Claims (10)
1. a kind of controllable servo motor of the more strategies of revolving speed characterized by comprising
Casing (2) is the hollow barrel structure of a multi-stag, is sequentially arranged at intervals with a circle on casing (2) internal perisporium
First magnet steel (4) and a circle the second magnet steel (6)；
High speed shaft (3) runs through the motor axis center, and the hollow pipeline for cabling is offered in the high speed shaft (3), and
The front end of the high speed shaft (3) is drawn outward from the front opening of the casing (2), and a harmonic speed reducer is connected on the exit
(1), the tail end of the high speed shaft (3) is drawn from the tail end outward opening of the casing (2), and installation one is for surveying on the exit
The coding velometer of revolving speed；
The first rotor (5) and the second rotor (7), the first rotor (5) and second rotor (7) are successively arranged at intervals on institute
On the axle body for stating high speed shaft (3), and the first rotor (5) and second rotor (7) are rotatably arranged on the casing (2)
In, first magnet steel (4) is distributed in the first rotor (5) periphery, and second magnet steel (6) is distributed in second rotor
(7) periphery.
2. the controllable servo motor of the more strategies of revolving speed as described in claim 1, which is characterized in that in the casing (2) successively
It is provided with interconnected the first circular cylindrical cavity (21), the second circular cylindrical cavity (22) and third circular cylindrical cavity (23), and
First circular cylindrical cavity (21) internal diameter is consistent with third circular cylindrical cavity (23) internal diameter, first circular cylindrical cavity
(21) internal diameter is less than the internal diameter of second circular cylindrical cavity (22), and high speed shaft (3) first end is rotatably arranged on described
In first circular cylindrical cavity (21), high speed shaft (3) second end is rotatably arranged in the third circular cylindrical cavity (23), and
One first bearing of sandwiched (11) between the high speed shaft (3) and first circular cylindrical cavity (21), the high speed shaft (3) and institute
State one second bearing of sandwiched (12) between third circular cylindrical cavity (23), the first bearing (11) and the second bearing (12)
Axial position limit.
3. the controllable servo motor of the more strategies of revolving speed as claimed in claim 2, which is characterized in that high speed shaft (3) axle body
On successively be spaced apart be equipped with the first erecting bed (32) and the second erecting bed (33), the first rotor (5) axis center run through opens up
One first through hole (51), the second rotor (7) axis center through opening up one second through-hole (71), and each erecting bed and
The internal diameter of each through-hole is consistent, and the first rotor (5) fitting is fixed on the first erecting bed (32) periphery, and described the
Two rotors (7) fitting is fixed on the second erecting bed (33) periphery, the first rotor (5) and second rotor (7) and
The high speed shaft (3) rotates synchronously setting in the casing (2).
4. the controllable servo motor of the more strategies of revolving speed as claimed in claim 3, which is characterized in that casing (2) internal perisporium
On successively offer first annular concave station (221) and the second annular concave platform (222), interval in the first annular concave station (221)
Fitting is provided with several first magnet steel (4), and interval fitting is provided with several described the in second annular concave platform (222)
Two magnet steel (6), the first rotor (5) are rotatably arranged on the inner circumferential space of first magnet steel (4), second rotor (7)
It is rotatably arranged on the inner circumferential space of second magnet steel (6), the first annular concave station (221) and second annular concave platform
(222) axially and symmetrically it is arranged in second circular cylindrical cavity (22).
5. the controllable servo motor of the more strategies of revolving speed as claimed in claim 3, which is characterized in that first circular cylindrical cavity
(21) front opening inner circumferential protrusion one first retaining ring (211) of setting, first retaining ring (211) and first cylindrical cavity
Body (21) arranged coaxial, is fixedly installed one first limited block (13) on the second circular cylindrical cavity (22) front bulkhead, and described the
The outer ring of one bearing (11) is axially confined between first retaining ring (211) and first limited block (13)；The height
One first limiting stand (31) is opened up on fast axis (3) first end axle body, the inner ring of the first bearing (11) is by being axially confined in
It states in the first limiting stand (31).
6. the controllable servo motor of the more strategies of revolving speed as claimed in claim 3, which is characterized in that the third circular cylindrical cavity
(23) tail end opening inner circumferential protrusion one second retaining ring (231) of setting, second retaining ring (231) and the third cylindrical cavity
Body (23) arranged coaxial, is fixedly installed one second limited block (14) on the second circular cylindrical cavity (22) tail end wall, and described the
The outer ring of two bearings (12) is axially confined between second retaining ring (231) and second limited block (14)；The height
One second limiting stand (34) is opened up on fast axis (3) second end axle body, the inner ring of the second bearing (12) is by being axially confined in
It states in the second limiting stand (34).
7. the controllable servo motor of the more strategies of revolving speed as claimed in claim 3, which is characterized in that the high speed shaft (3) second
End is drawn from the tail end outward opening of the third circular cylindrical cavity (23), is equipped with a volume in high speed shaft (3) second end
Code device code-disc (9) installs an encoder (8), the volume on the casing (2) tail end wall of encoder code disc (9) periphery
Code device (8) and the encoder code disc (9) spaced-apart alignment, encoder (8) outer sheath is equipped with an encoder cover (10), described
Encoder cover (10) is fixed on the casing (2) tail end wall periphery.
8. the controllable servo motor of the more strategies of revolving speed as described in claim 1, which is characterized in that the harmonic speed reducer (1)
Be mounted on the first shaft end of the casing (2), the harmonic speed reducer (1) include: wave hair device (101), flexbile gear (102), just
(103) and crossed roller bearing (104) are taken turns, wave hair device (101) is fixed in the axial first end of the high speed shaft (3), institute
It states flexbile gear (102) to be fixed on the casing (2) front bulkhead, and the flexbile gear (102) is set in wave hair device (101) outside
Week, the firm gear (103) are set in the flexbile gear (102) periphery, and the crossed roller bearing (104) is axially located at the firm gear
(103) between the casing (2).
9. the controllable servo motor of the more strategies of revolving speed as claimed in claim 8, which is characterized in that casing (2) front bulkhead
Periphery opens up a concave station (24), and flexbile gear (102) periphery is fixed on the concave station (24), flexbile gear (102) inner circumferential
Before extend to and be folded between wave hair device (101) and the firm gear (103)；Outside the crossed roller bearing (104)
Circle is fixed on the concave station (24), the inner ring front bulkhead and the firm gear (103) tail end wall of the crossed roller bearing (104)
It is fixed, and the inner ring of the crossed roller bearing (104) is located at the flexbile gear (102) periphery.
10. the controllable servo motor of the more strategies of revolving speed as claimed in claim 9, which is characterized in that the crossed roller bearing
(104) it is sealed between the inner ring of outer ring and the crossed roller bearing (104) with an oil sealing (19)；The crossed roller bearing
(104) one first groove is opened up on inner ring front bulkhead, one first sealing ring (16) of installation in first groove, described first
Sealing ring (16) is folded between the firm gear (103) tail end wall and the inner ring of the crossed roller bearing (104)；
The flexbile gear (102) is folded between the outer ring of the crossed roller bearing (104) and the casing (2) front bulkhead,
One second groove is opened up on the outer ring tail end wall of the crossed roller bearing (104), installation one second is close in second groove
Seal (17)；A third groove (241), peace in the third groove (241) are opened up in the axial outer wall inner circumferential of the concave station (24)
Fill a third sealing ring (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910430071.8A CN110011479A (en) | 2019-05-22 | 2019-05-22 | A kind of servo motor that the more strategies of revolving speed are controllable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910430071.8A CN110011479A (en) | 2019-05-22 | 2019-05-22 | A kind of servo motor that the more strategies of revolving speed are controllable |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110011479A true CN110011479A (en) | 2019-07-12 |
Family
ID=67177706
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910430071.8A Pending CN110011479A (en) | 2019-05-22 | 2019-05-22 | A kind of servo motor that the more strategies of revolving speed are controllable |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110011479A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110323893A (en) * | 2019-07-29 | 2019-10-11 | 江苏科技大学 | A kind of electric system based on dynamic control |
| WO2021017062A1 (en) * | 2019-07-29 | 2021-02-04 | 江苏科技大学 | Short-wheelbase large-magnetic-force electric motor system |
| WO2024197684A1 (en) * | 2023-03-28 | 2024-10-03 | 江苏科技大学 | Hollow robot joint module with adjustable output mode |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5525851A (en) * | 1992-12-04 | 1996-06-11 | Toshiba Kikai Kabushiki Kaisha | Apparatus for producing high-speed rotation |
| CN1710786A (en) * | 2005-05-31 | 2005-12-21 | 宋添发 | Permanent magnet energy-saving motor |
| CN101174782A (en) * | 2006-10-26 | 2008-05-07 | 迪尔公司 | Dual rotor electromagnetic machine |
| CN201213236Y (en) * | 2008-07-04 | 2009-03-25 | 王久龙 | Permanent magnet motor |
| CN106253573A (en) * | 2016-10-18 | 2016-12-21 | 中国电子科技集团公司第二十研究所 | The motor integrating of integration reducer |
| CN207766084U (en) * | 2017-12-15 | 2018-08-24 | 珠海格力节能环保制冷技术研究中心有限公司 | A kind of coupling structure and motor for motor encoder |
| CN209593194U (en) * | 2019-05-22 | 2019-11-05 | 天津中德应用技术大学 | A kind of servo motor that the more strategies of revolving speed are controllable |
-
2019
- 2019-05-22 CN CN201910430071.8A patent/CN110011479A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5525851A (en) * | 1992-12-04 | 1996-06-11 | Toshiba Kikai Kabushiki Kaisha | Apparatus for producing high-speed rotation |
| CN1710786A (en) * | 2005-05-31 | 2005-12-21 | 宋添发 | Permanent magnet energy-saving motor |
| CN101174782A (en) * | 2006-10-26 | 2008-05-07 | 迪尔公司 | Dual rotor electromagnetic machine |
| CN201213236Y (en) * | 2008-07-04 | 2009-03-25 | 王久龙 | Permanent magnet motor |
| CN106253573A (en) * | 2016-10-18 | 2016-12-21 | 中国电子科技集团公司第二十研究所 | The motor integrating of integration reducer |
| CN207766084U (en) * | 2017-12-15 | 2018-08-24 | 珠海格力节能环保制冷技术研究中心有限公司 | A kind of coupling structure and motor for motor encoder |
| CN209593194U (en) * | 2019-05-22 | 2019-11-05 | 天津中德应用技术大学 | A kind of servo motor that the more strategies of revolving speed are controllable |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110323893A (en) * | 2019-07-29 | 2019-10-11 | 江苏科技大学 | A kind of electric system based on dynamic control |
| CN110323893B (en) * | 2019-07-29 | 2020-12-25 | 徐州汇尔康食品有限公司 | Motor system based on dynamic control |
| WO2021017062A1 (en) * | 2019-07-29 | 2021-02-04 | 江苏科技大学 | Short-wheelbase large-magnetic-force electric motor system |
| WO2021017063A1 (en) * | 2019-07-29 | 2021-02-04 | 江苏科技大学 | Motor system based on dynamic control |
| WO2024197684A1 (en) * | 2023-03-28 | 2024-10-03 | 江苏科技大学 | Hollow robot joint module with adjustable output mode |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109986549B (en) | Hollow ultra-thin type outer rotor harmonic speed reduction all-in-one machine | |
| CN110011479A (en) | A kind of servo motor that the more strategies of revolving speed are controllable | |
| CN205901557U (en) | Novel brushless motor that built -in planetary reducer constructs | |
| US5479058A (en) | Geared motor | |
| CN113276157B (en) | Multistage compact type electric drive joint module and robot | |
| CN109968398B (en) | Ultra-thin type external rotor harmonic speed reduction all-in-one | |
| CN108400677B (en) | Birotor input planet gear speed reducer | |
| CN106300795B (en) | A kind of big retarding is than harmonic reduction all-in-one machine | |
| CN103986301A (en) | High-dynamic moving-magnetic type linear rotation integrated two-degree-of-freedom motor | |
| CN209593194U (en) | A kind of servo motor that the more strategies of revolving speed are controllable | |
| EP2811625A1 (en) | Gearmotor with reduced axial space requirement | |
| CN104265968A (en) | Electric actuator based on planetary gear drive | |
| CN110034650A (en) | A kind of servo motor that high-precision is controllable | |
| CN110182254A (en) | A kind of AGV carriage walking steering composite joint | |
| CN209593234U (en) | A kind of servo motor that high-precision is controllable | |
| CN103490555B (en) | A kind of single eccentric shaft formula engagement motor | |
| CN106602820B (en) | Multiple degrees of freedom all-in-one machine | |
| CN103199650A (en) | Three-phase inner rolling type meshing motor | |
| CN209642486U (en) | A kind of hollow ultrathin outer rotor harmonic reduction all-in-one machine | |
| US10670143B2 (en) | Motor | |
| CN219325262U (en) | Multistage compact type electric drive joint module and robot | |
| CN203554183U (en) | Single eccentric shaft type meshed motor | |
| CN101291096A (en) | Horizontal moving type engaging motor | |
| CN108488325A (en) | Three fast output planetary gear reduction units | |
| CN110417178B (en) | Short-wheelbase and large-magnetic-force motor system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |